Unlike other books on this subject, which tend to concentrate on 2-D dynamics, this text focuses on the application of Newton-Euler methods to complex, real-life 3-D dynamics problems. It is thus ideal for elective courses in intermediate dynamics.

A modern and unified treatment of the mechanics, planning, and control of robots, suitable for a first course in robotics.

Rigid Body Dynamics Algorithms presents the subject of computational rigid-body dynamics through the medium of spatial 6D vector notation. It explains how to model a rigid-body system and how to analyze it, and it presents the most comprehensive collection of the best rigid-body dynamics algorithms to be found in a single source. The use of spatial vector notation greatly reduces the volume of algebra which allows systems to be described using fewer equations and fewer quantities. It also allows problems to be solved in fewer steps, and solutions to be expressed more succinctly. In addition algorithms are explained simply and clearly, and are expressed in a compact form. The use of spatial vector notation facilitates the implementation of dynamics algorithms on a computer: shorter, simpler code that is easier to write, understand and debug, with no loss of efficiency.

Good,No Highlights,No Markup,all pages are intact, Slight Shelfwear,may have the corners slightly dented, may have slight color changes/slightly damaged spine.

Suitable for both senior-level and first-year graduate courses, this fully revised edition provides a unique and systematic treatment of engineering dynamics that covers Newton–Euler and Lagrangian approaches. New to this edition are: two completely revised chapters on the constraints on, and potential energies for, rigid bodies, and the dynamics of systems of particles and rigid bodies; clearer discussion on coordinate singularities and their relation to mass matrices and configuration manifolds; additional discussion of contravariant basis vectors and dual Euler basis vectors, as well as related works in robotics; improved coverage of navigation equations; inclusion of a 350-page solutions manual for instructors, available online; a fully updated reference list. Numerous structured examples, discussion of various applications, and exercises covering a wide range of topics are included throughout, and source code for exercises, and simulations of systems are available online.

Intended for graduate students, this textbook provides an understanding of the theoretical underpinnings of analytical mechanics, as well as modern task-based approaches that can be exploited for real-world problems. Students will receive a timely perspective on applying theory to modern problems in areas like biomechanics and robotics.

This book offers an excellent complementary text for an advanced course on the modelling and dynamic analysis of multi-body mechanical systems, and provides readers an in-depth understanding of the modelling and control of robots. While the Lagrangian formulation is well suited to multi-body systems, its physical meaning becomes paradoxically complicated for single rigid bodies. Yet the most advanced numerical methods rely on the physics of these single rigid bodies, whose dynamic is then given among multiple formulations by the set of the Newton–Euler equations in any of their multiple expression forms. This book presents a range of simple tools to express in succinct form the dynamic equation for the motion of a single rigid body, either free motion (6-dimension), such as that of any free space navigation robot or constrained motion (less than 6-dimension), such as that of ground or surface vehicles. In the process, the book also explains the equivalences of (and differences between) the different formulations.

Written by two of Europe's leading robotics experts, this book provides the tools for a unified approach to the modelling of robotic manipulators, whatever their mechanical structure. No other publication covers the three fundamental issues of robotics: modelling, identification and control. It covers the development of various mathematical models required for the control and simulation of robots.·World class authority·Unique range of coverage not available in any other book·Provides a complete course on robotic control at an undergraduate and graduate level

The time-optimal control of a system of rigid bodies connected in series by single-degree-of-freedom joints is studied. The dynamical equations of the system are highly nonlinear and a closed-form representation of the minimum-time feedback control is not possible. However, a suboptimal feedback control which provides a close approximation to the optimal control is developed. The suboptimal control is expressed in terms of switching curves for each of the system controls. These curves are obtained from the linearized equations of motion for the system. Approximations are made for the effects of gravity loads and angular velocity terms in the nonlinear equations of motion. Digital simulation is used to obtain a comparison of response of the optimal and suboptimal controls. The speed of response of the suboptimal control is found to compare quite favorably with the response speed of the optimal control. The analysis is applied to the control of three joints of a mechanical manipulator. Modifications of the suboptimal control for use in a sampled-data system are shown to result in good performance of a hydraulic manipulator under computer control. (Author).